CN114435957B - Magnetic suspension type gravity unloading mechanism and method for ultra-large caliber light reflecting mirror - Google Patents
Magnetic suspension type gravity unloading mechanism and method for ultra-large caliber light reflecting mirror Download PDFInfo
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- CN114435957B CN114435957B CN202111581820.0A CN202111581820A CN114435957B CN 114435957 B CN114435957 B CN 114435957B CN 202111581820 A CN202111581820 A CN 202111581820A CN 114435957 B CN114435957 B CN 114435957B
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- 230000005484 gravity Effects 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 239000000725 suspension Substances 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000013461 design Methods 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims description 21
- 238000013016 damping Methods 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 10
- 230000017525 heat dissipation Effects 0.000 claims description 6
- 238000005339 levitation Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
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Abstract
The invention provides a magnetic suspension type gravity unloading mechanism and a method suitable for an ultra-large caliber light reflecting mirror, wherein the magnetic suspension type gravity unloading mechanism comprises a base, a movable electromagnet arranged on the base, a liftable motor, a fixed electromagnet embedded on the back of the reflecting mirror, a magnetic sucking disc and a magnetic sucking disc frame; suction force is generated between the magnetic sucker and the fixed electromagnet, so that the lifting and transferring functions are realized; repulsive force is generated between the movable electromagnet and the fixed electromagnet, so that supporting force is provided to realize gravity unloading. The invention completely subverts the original unloading support form, proposes to provide unloading force by using the magnetic suspension principle, is not limited by the design of the light-weight structure on the back of the reflector blank, can carry out flexible gravity unloading design, and has high unloading precision.
Description
Technical Field
The invention belongs to the technical field of optical element processing, and particularly relates to a hoisting, transferring and gravity unloading mechanism and method for an ultra-large caliber light reflecting mirror during surface profile detection in milling, grinding and polishing stages.
Background
The large-caliber space reflector is an important component of a space optical system, and because the processing process of the reflector is carried out under the condition of the influence of ground gravity, the gravity disappears or only bears microgravity after entering space, so that the reflector processed on the ground can deform after rising off to lose effectiveness. Therefore, how to realize accurate detection of the processing surface shape of the ultra-large reflector, eliminate the influence of gravity, ensure the consistency of the world, be a key link in the processing process, and the processing detection surface shape is inaccurate, so that the imaging resolution of an on-orbit optical remote sensing imaging system is directly influenced.
In recent years, as the observation requirements tend to be larger and larger in field of view, wide in coverage and high in resolution, the diameter of the space large-caliber reflecting main mirror is larger and larger, the caliber is gradually increased from 2 m-level requirements to 4 m-level requirements or even 6-10 m-level requirements, and the light weight ratio is also required to be higher and higher. According to the prior art, in order to realize zero gravity surface shape unloading during processing and detection of the ultra-large reflector, to ensure the consistency of the reflector and the ground, hundreds of discrete contact type supporting units are required to be designed, for example, hundreds of cylinders or motors are adopted to support the light-weight rib of the reflector for gravity unloading, the supporting force in the supporting form only acts on the light-weight rib on the back of the reflector, the direct action on the reflector cannot be realized, the supporting efficiency is low, the rigidity requirement on the reflector is high, the reflector is difficult to realize further light-weight design, the quality of the reflector cannot be greatly reduced, and huge risks and difficulties are brought to processing, manufacturing, assembling and transportation; and for the phi 4-7m caliber reflector, the required supporting points can be more than 500 and even 600, the more the number of points is, the more complex the system is, the longer the time required for reaching the test equilibrium state is, and the unloading precision is difficult to reach the requirement. It can be seen that the method of replication and linear improvement of the prior art is far from meeting the processing and manufacturing requirements, and development of new unloading technology is needed.
Aiming at the back open type reflecting mirror with the caliber phi of 4-7m, if a novel magnetic suspension type gravity unloading mechanism is adopted, the fixed electromagnet can be directly stuck on the back surface of the reflecting mirror surface, the unloading force can directly act on the reflecting mirror surface, the supporting efficiency and the unloading precision are high, the number of required unloading supporting points is greatly reduced, the rigidity requirement of the unloading mode on the reflecting mirror is low, the surface density index of the reflecting mirror can be greatly reduced, the ultra-thin mirror blank reduction design is realized, and the design and processing difficulty of the ultra-large caliber reflecting mirror is reduced from the design source.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, reduce the design and processing difficulty of a reflector from the source, improve the unloading precision, realize the processing and manufacturing of an ultra-light reflector, and provide a magnetic suspension type ultra-large reflector gravity unloading mechanism for processing and detecting the ultra-large reflector, so as to realize the lifting, transferring and gravity unloading in the processing and detecting process.
The technical scheme provided by the invention is as follows:
in a first aspect, a magnetic suspension type gravity unloading mechanism suitable for an ultra-large caliber light reflecting mirror comprises a base, a movable electromagnet, a liftable motor, a fixed electromagnet, a magnetic sucker and a magnetic sucker frame;
The movable electromagnets are arranged on the base, the fixed electromagnets are embedded on the back surface of the reflecting mirror, each fixed electromagnet corresponds to a plurality of movable electromagnets to form a group of unloading supporting units, and in each group of unloading supporting units, the plurality of movable electromagnets corresponding to the fixed electromagnets surround the fixed electromagnets to form a ring;
The lifting motor is used for supporting the reflecting mirror before unloading balance, and the relative distance between the fixed electromagnet and the movable electromagnet is adjusted through lifting operation;
The magnetic suction disc is fixed on the magnetic suction disc frame, the position of the magnetic suction disc is adjustable, and the working position of the magnetic suction disc corresponds to the fixed electromagnet on the back of the reflector;
The current in each electromagnetic element is independently controlled, and the magnitude and the direction of the current are controlled, so that suction force is generated between the magnetic sucker and the fixed electromagnet, and the lifting and transferring functions are realized; the repulsive force is generated between the movable electromagnet and the fixed electromagnet, so that the gravity unloading is realized by providing supporting force.
In a second aspect, a magnetic levitation type gravity unloading method suitable for an ultra-large caliber light reflecting mirror comprises the following steps:
Step 1, lifting and transferring a reflector to be tested from a processing area to a to-be-tested area by using a magnetic chuck mechanism, aligning the magnetic chuck to a fixed electromagnet on the back surface of the reflector during lifting, and leading opposite currents to the fixed electromagnet and the fixed electromagnet to generate suction force between the two electromagnets to realize lifting and transferring;
Step 2, when the reflector is transported to a to-be-detected area, the position of the reflector is adjusted to enable the fixed electromagnet at the back of the reflector and the movable electromagnet arranged on the base to correspond to each other, each fixed electromagnet corresponds to a plurality of movable electromagnets, and the plurality of movable electromagnets corresponding to the fixed electromagnets surround the fixed electromagnets to form a ring;
Step 3, after the position of the reflecting mirror is determined, the reflecting mirror is firstly placed on a liftable motor, at the moment, the magnetic sucker is powered off and separated from the reflecting mirror, and the liftable motor slowly descends with the reflecting mirror until a set distance is reached between the fixed electromagnet and the movable electromagnet; at the moment, the movable electromagnet and the fixed electromagnet are electrified, repulsive force is generated between the movable electromagnet and the fixed electromagnet by the same-direction current, the current in each electromagnet can be controlled independently, the repulsive force between each group of unloading supporting units is obtained through mechanical simulation design, and according to specific numerical values, a mechanical sensor carried on the fixed electromagnet is used for carrying out real-time monitoring feedback, and the current is regulated;
and 4, after the unloading supporting force reaches a set value given by mechanical simulation, the lifting motor is separated from the reflecting mirror, and the reflecting mirror unloading is implemented through repulsive force generated between the movable electromagnet and the fixed electromagnet.
The magnetic suspension type gravity unloading mechanism and the unloading method suitable for the ultra-large caliber light reflecting mirror have the following beneficial effects:
(1) The invention provides a magnetic suspension type gravity unloading mechanism and an unloading method suitable for an ultra-large caliber light reflecting mirror, which completely subvert the original unloading supporting form, firstly provide an unloading force by using a magnetic suspension principle, and enable a gravity unloading part linkage device to be embedded at the back of the reflecting mirror surface, wherein the unloading force can directly act on the back of the reflecting mirror surface, thereby realizing non-contact type flexible homogenization supporting of the reflecting mirror surface, realizing design and processing detection integration, and greatly reducing the design and processing difficulty of the reflecting mirror;
(2) The invention provides a magnetic suspension type gravity unloading mechanism and an unloading method suitable for an ultra-large caliber light reflecting mirror, which creatively introduces a magnetic suspension technology into the gravity unloading technology to realize multi-disciplinary cross fusion. Compared with the existing gravity unloading technology, the non-contact magnetic suspension gravity unloading technology is particularly suitable for ultra-large caliber light reflecting mirrors, can greatly reduce the surface density index of the reflecting mirrors (the surface density index of the traditional reflecting mirrors is improved from 60kg/m 2 to 30kg/m 2), thereby realizing the design of ultra-thin mirror blanks for weight reduction, changing the design scheme of the ultra-large caliber reflecting mirrors from the source, reducing the design and processing difficulty and providing feasibility for processing and manufacturing ultra-thin ultra-light reflecting mirrors with the caliber of phi 4-7 m;
(3) The magnetic suspension type gravity unloading mechanism and the unloading method suitable for the ultra-large caliber light reflecting mirror are not limited by the design of the light structure on the back surface of the reflecting mirror blank, can carry out flexible gravity unloading design, and have high unloading precision. For reflectors with different types and calibers, magnetic suspension type gravity unloading is used, and the theoretical unloading precision can generally reach 2nm-RMS, which is 5 times that of the existing unloading technology;
(4) The magnetic suspension type gravity unloading mechanism suitable for the ultra-large caliber light reflecting mirror provided by the invention can realize hoisting, shipment and gravity unloading at the same time, does not need to put into production any hoisting and transferring tool, and reduces the cost.
Drawings
FIG. 1 is a diagram showing a comparison of a conventional mirror light structure (a) and an ultra-light mirror structure (b);
FIG. 2 is a schematic diagram of a magnetic levitation type gravity unloading mechanism;
FIG. 3 is an overall external view of a magnetic levitation type gravity unloading mechanism;
FIG. 4 is a diagram of an unloading support unit arrangement;
Fig. 5 is a block diagram of a damping vibration attenuation unit.
In the figure: the device comprises a base, a movable electromagnet, a fixed electromagnet, a mechanical sensor, a lifting motor, a damping vibration reduction unit, a magnetic chuck and a magnetic chuck frame, wherein the base is a base, the movable electromagnet, the fixed electromagnet, the mechanical sensor is a mechanical sensor, the lifting motor is a lifting motor, the damping vibration reduction unit is a damping vibration reduction unit, the magnetic chuck is a damping vibration reduction unit, and the magnetic chuck is a magnetic chuck frame.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the existing gravity unloading mode of the reflector, the unloading supporting point can only act on the light-weight rib on the back of the reflector, the supporting efficiency is low, the rigidity requirement on the reflector is high, and the back of the open-back reflector with the caliber phi of 4-7m is designed with enough light-weight ribs so as to meet the unloading precision requirement, and the specific structure can be seen from the light-weight structure of the traditional reflector in the figure 1 (a). The inventor has made a great deal of researches on the reflector with the aperture phi of 4-7m, and found that if a novel magnetic suspension type gravity unloading mechanism is adopted, the fixed electromagnet can be directly adhered to the back of the reflector mirror surface, the unloading force can directly act on the reflector mirror surface, the supporting efficiency and the unloading precision are high, the number of required unloading supporting points is greatly reduced, the rigidity requirement on the reflector in the unloading mode is low, the surface density index of the reflector can be greatly reduced, the number of light-weight ribs on the back of the reflector is greatly reduced, the structure schematic diagram can be seen in the ultra-light mirror structure of fig. 1 (b), the structure realizes the ultra-thin mirror blank reset design, and the design and processing detection difficulty of the ultra-large aperture reflector is reduced from the design source.
The invention provides a magnetic suspension type gravity unloading mechanism suitable for an ultra-large caliber light reflecting mirror, which is shown in fig. 2 and 3 and comprises a base 1, a movable electromagnet 2 arranged on the base 1, a liftable motor 5 with a displacement sensor, a fixed electromagnet 3 embedded on the back of the reflecting mirror, a magnetic sucking disc 7 and a magnetic sucking disc frame 8.
In the invention, the fixed electromagnet 3 embedded on the back of the reflecting mirror is mainly fixed on the back of the reflecting mirror surface by means of gluing and the like. Further, the fixed electromagnet 3 is provided with a mechanical sensor 4 for monitoring the unloading force between the movable electromagnet 2 and the fixed electromagnet 3 in real time and feeding back the unloading force, thereby precisely controlling the repulsive force of each unloading supporting unit.
In the invention, the movable electromagnets 2 are arranged on the base 1 according to the positions of the fixed electromagnets 3 embedded on the back of the reflecting mirror, and each fixed electromagnet 3 corresponds to a plurality of movable electromagnets 2, thereby forming a group of unloading supporting units. As shown in fig. 4, in each group of unloading support units, the plurality of movable electromagnets 2 corresponding to the fixed electromagnets 3 are surrounded into a ring shape, and the overall magnetic field formed by the movable electromagnets is exactly matched with the magnetic field of the corresponding fixed electromagnets, so that the arrangement mode can generate a space magnetic field with a concave-convex shape, and when the reflector is displaced in the horizontal direction, the displacement direction is the direction in which the magnetic field intensity is increased, so that the movement of the reflector is blocked, and the stability of the reflector in the horizontal direction is facilitated. After the adhesion position of the fixed electromagnet 3 relative to the reflector is determined, the position of the movable electromagnet 2 relative to the base 1 is fixed, but the vertical distance between the movable electromagnet 2 and the fixed electromagnet 3 can be changed, and the specific distance value between the two can be obtained through a displacement sensor on the liftable motor 5. For different reflectors, the movable electromagnet 2 and the fixed electromagnet 3 can be repeatedly used, and only the corresponding arrangement positions are required to be changed.
In the invention, the top of the liftable motor 5 is of a tray structure and is used for supporting the reflecting mirror before unloading balance, and the relative distance between the fixed electromagnet 3 and the movable electromagnet 2 is adjusted through lifting operation.
In the invention, the magnetic chuck 7 is fixed on the magnetic chuck frame 8, and forms a magnetic chuck mechanism together with the magnetic chuck frame 8, the position of the magnetic chuck 7 is adjustable, and the working position of the magnetic chuck 7 corresponds to the fixed electromagnet 3 at the back of the reflector. Through adjusting the position of magnetic chuck 7 for the speculum, can be applicable to the hoist and mount of different speculums with the help of magnetic chuck frame 8 and transport, magnetic chuck 7 can dismantle with magnetic chuck frame 8 in addition, removable different forms' magnetic chuck.
Further, as shown in fig. 3, the magnetic chuck frame 8 is a tripod mechanism, and includes a top hoisting structure 81, three arm structures 82, three groups of beams 83, and three groups of foot structures 84, where the top hoisting structure 81 is hinged to the upper ends of the three arm structures 82, the three arm structures 82 adjust the lower end positions by rotating around a hinge shaft, and the three groups of beams 83 are respectively connected with the adjacent arm structures 82 to implement arm structure angle fixing; the foot structure 84 is used for fixing the magnetic chuck 7, a shaft structure is arranged on the foot structure 84, the lower end of the arm structure 82 is penetrated, and the foot structure is connected with the arm structure 82 and can rotate around the shaft, so that the alignment of the fixed magnetic chuck 7 and the fixed electromagnet 3 is implemented. Further, the foot structure 84 is a star-shaped foot structure, and the magnetic suction cups 7 are fixed at the lower ends of the corners of the star-shaped foot structure, so that a design that one foot structure loads a plurality of magnetic suction cups 7 is realized.
In the invention, the current in each electromagnetic element can be controlled independently, and the attraction force is generated between the magnetic sucker 7 and the fixed electromagnet 3 by controlling the magnitude and the direction of the current, so that the lifting and transferring functions are realized; a repulsive force is generated between the movable electromagnet 2 and the fixed electromagnet 3, so that a supporting force is provided to realize gravity unloading.
In the invention, in order to ensure the stability of the unloading state, a corresponding damping vibration attenuation system is required to be designed on the unloading mechanism, and the system comprises a plurality of damping vibration attenuation units 6. The damping vibration reduction unit structure is shown in fig. 5, the damping vibration reduction unit 6 comprises an electromagnetic coil a and an electromagnetic coil b, wherein the electromagnetic coil a is arranged on a light weight rib at the back of the reflector, the electromagnetic coil a and the electromagnetic coil b are arranged concentrically, the electromagnetic coil a is not electrified and is connected with a charging module (such as a rechargeable battery) or a heat dissipation resistor through a lead, the electromagnetic coil b is electrified, a substantially uniform magnetic field can be generated in the middle of the electromagnetic coil b, the strength of the magnetic field is controlled by the current of the electromagnetic coil b, when the reflector vibrates, the electromagnetic coil a cuts a magnetic induction wire to generate current, and the energy of vibration is converted into electric energy to be charged into the charging module, or the heat dissipation resistor is converted into heat energy, so that the stable maintenance of the whole system is realized.
In the invention, the base 1 is designed to have the same peripheral outline shape as the reflector, so that the base 1 and the reflector are arranged concentrically during unloading, and the correspondence between the fixed electromagnet 3 and the plurality of movable electromagnets 2 is adjusted.
The magnetic suspension type gravity unloading mechanism suitable for the ultra-large caliber light reflecting mirror can realize hoisting, transferring and gravity unloading of the back-opening ultra-large caliber light reflecting mirror during surface profile detection in milling, grinding and polishing stages. The specific implementation steps are as follows:
Step 1, a reflector to be measured is lifted and transferred from a processing area to a to-be-measured area by using a magnetic chuck mechanism, wherein the magnetic chuck mechanism comprises a magnetic chuck 7 and a magnetic chuck frame 8, the specific structural form is shown in fig. 3, but the structure is not limited to the specific structural form, fig. 3 is only one structure, and the structural shapes of the magnetic chuck 7 and the magnetic chuck frame 8 can be adjusted according to actual conditions. For example, the beam with different lengths is selected to adjust the opening angle of the whole mechanism, so that the position of the magnetic suction cup relative to the reflecting mirror is adjusted, the magnetic suction cup and the magnetic suction cup frame can be detached, and the magnetic suction cup with different forms can be replaced.
And 2, aligning the magnetic sucker 7 with the fixed electromagnet 3 on the back of the reflector during hoisting, and leading the two electromagnets to be electrified with opposite currents to generate suction force between the two electromagnets, thereby realizing hoisting and transferring.
And 3, ensuring concentricity of the reflector and the base 1 before the reflector is transferred to a to-be-measured area and placed on an unloading platform, wherein the concentricity of the reflector and the base 1 can be realized through a laser tracker, and the purpose of concentricity adjustment is to enable a fixed electromagnet 3 on the back of the reflector and a movable electromagnet 2 arranged on the base 1 to correspond to each other. Each fixed electromagnet 3 corresponds to a plurality of movable electromagnets 2 so as to form a group of unloading supporting units, the arrangement mode of the unloading supporting units is shown in fig. 4, in each group of unloading supporting units, the plurality of movable electromagnets 2 corresponding to the fixed electromagnets 3 are surrounded into a ring shape, and the whole magnetic field formed by the plurality of movable electromagnets 2 is exactly matched with the magnetic field of the corresponding fixed electromagnet 3.
Step 4, after the reflector is concentric with the base 1, the relative distance between the fixed electromagnet 3 and the movable electromagnet 2 can be realized through the liftable motor 5, the liftable motor 5 is arranged on the base 1, the reflector is firstly placed on a tray of the liftable motor 5, at the moment, the magnetic sucker 7 is powered off and separated from the reflector, the liftable motor 5 slowly descends with the reflector until a preset proper distance is reached between the fixed electromagnet 3 and the movable electromagnet 2, and a specific value of the distance is obtained through a displacement sensor arranged on the liftable motor 5. At this time, the movable electromagnet 2 and the fixed electromagnet 3 are electrified, the repulsive force is generated between the movable electromagnet 2 and the fixed electromagnet 3 by the same-direction current, the current in each electromagnet can be controlled independently, the repulsive force between each group of unloading supporting units is obtained through mechanical simulation design, and according to the obtained specific numerical value, the mechanical sensor 4 on the fixed electromagnet 3 is used for carrying out real-time monitoring feedback, relevant parameters such as current are adjusted, and the accuracy of the numerical value of the repulsive force between each group of unloading supporting units is ensured.
And 5, after the unloading supporting force reaches a set value given by mechanical simulation, the lifting motor 5 is separated from the reflecting mirror. The whole set of device is provided with a corresponding damping vibration attenuation system, an electromagnetic coil a is not electrified and is connected with a charging module (such as a rechargeable battery) or a heat dissipation resistor through a lead, an electromagnetic coil b is electrified, a substantially uniform magnetic field can be generated in the middle of the electromagnetic coil b, the strength of the magnetic field is controlled by the current of the electromagnetic coil b, when a reflector vibrates, the electromagnetic coil a cuts a magnetic induction wire to generate current, the vibrating energy is converted into electric energy to be charged into the charging module, or the heat dissipation resistor is converted into heat energy, and therefore stable maintenance of the whole system is realized.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (6)
1. The magnetic suspension type gravity unloading method suitable for the ultra-large caliber light reflecting mirror is characterized by adopting a magnetic suspension type gravity unloading mechanism suitable for the ultra-large caliber light reflecting mirror, wherein the magnetic suspension type gravity unloading mechanism comprises a base (1), a movable electromagnet (2), a liftable motor (5), a fixed electromagnet (3), a magnetic sucking disc (7) and a magnetic sucking disc frame (8);
the movable electromagnets (2) are arranged on the base (1), the fixed electromagnets (3) are embedded on the back of the reflecting mirror, each fixed electromagnet (3) corresponds to a plurality of movable electromagnets (2), and the plurality of movable electromagnets (2) corresponding to the fixed electromagnets (3) form a ring around the fixed electromagnets (3);
the lifting motor (5) is used for supporting the reflecting mirror before unloading balance, and the relative distance between the fixed electromagnet (3) and the movable electromagnet (2) is adjusted through lifting operation;
The magnetic sucker (7) is fixed on the magnetic sucker frame (8), the position of the magnetic sucker (7) is adjustable, and the working position of the magnetic sucker corresponds to the fixed electromagnet (3) on the back of the reflector;
The current in each electromagnetic element is independently controlled, and the magnitude and the direction of the current are controlled, so that suction force is generated between the magnetic sucker (7) and the fixed electromagnet (3), and the lifting and transferring functions are realized; a repulsive force is generated between the movable electromagnet (2) and the fixed electromagnet (3), so that a supporting force is provided to realize gravity unloading;
the magnetic suspension type gravity unloading method comprises the following steps:
Step 1, lifting and transferring a reflector to be tested from a processing area to the area to be tested by using a magnetic chuck mechanism, aligning a magnetic chuck (7) to a fixed electromagnet (3) on the back surface of the reflector during lifting, and leading opposite currents to the two electromagnets to generate suction force between the two electromagnets to realize lifting and transferring;
step 2, when the reflector is transported to a to-be-detected area, the position of the reflector is adjusted to enable a fixed electromagnet (3) at the back of the reflector and movable electromagnets (2) arranged on a base (1) to correspond to each other, each fixed electromagnet (3) corresponds to a plurality of movable electromagnets (2), and a plurality of movable electromagnets (2) corresponding to the fixed electromagnets (3) form a ring around the fixed electromagnets (3);
Step 3, after the position of the reflecting mirror is determined, the reflecting mirror is firstly placed on a liftable motor (5), at the moment, the magnetic sucker (7) is powered off and separated from the reflecting mirror, and the liftable motor (5) slowly descends with the reflecting mirror until a set distance is reached between the fixed electromagnet (3) and the movable electromagnet (2); at the moment, the movable electromagnet (2) and the fixed electromagnet (3) are electrified, repulsive force is generated between the movable electromagnet and the fixed electromagnet by the same-direction current, the current in each electromagnet can be controlled independently, the repulsive force between each group of unloading supporting units is obtained through mechanical simulation design, and according to specific numerical values, real-time monitoring feedback is carried out by using a mechanical sensor (4) carried on the fixed electromagnet (3), and the current is regulated;
And 4, after the unloading supporting force reaches a set value given by mechanical simulation, the lifting motor (5) is separated from the reflecting mirror, and the reflecting mirror unloading is implemented through repulsive force generated between the movable electromagnet (2) and the fixed electromagnet (3).
2. The magnetic levitation type gravity unloading method suitable for the ultra-large caliber light reflecting mirror according to claim 1, wherein a displacement sensor is arranged on the liftable motor (5) and used for obtaining a vertical distance between the movable electromagnet (2) and the fixed electromagnet (3).
3. The magnetic suspension type gravity unloading method suitable for the ultra-large caliber light reflecting mirror according to claim 1, wherein the magnetic suction disc frame (8) is a tripod mechanism and comprises a top hoisting structure (81), three arm structures (82), three groups of cross beams (83) and three groups of foot structures (84), the top hoisting structure (81) is hinged with the upper ends of the three arm structures (82), the three arm structures (82) adjust the lower end positions through rotating around a hinged shaft, and the three groups of cross beams (83) are respectively connected with the adjacent arm structures (82) to implement arm structure angle fixing; the foot structure (84) is used for fixing the magnetic sucker (7), the shaft structure is arranged on the foot structure (84), the lower end of the arm structure (82) is penetrated, the foot structure can rotate around the shaft after being connected with the arm structure (82), and the alignment of the magnetic sucker (7) and the electromagnet (3) is fixed.
4. A magnetic levitation type gravity unloading method for ultra-large caliber light reflecting mirror according to claim 3, wherein the foot structure (84) is a star-shaped foot structure, and the magnetic suction disc (7) is fixed at the lower end of each corner of the star-shaped foot structure.
5. The magnetic levitation type gravity unloading method suitable for the ultra-large caliber light reflecting mirror according to claim 1, wherein the magnetic suction cup (7) is detachable from the magnetic suction cup frame (8).
6. The magnetic suspension type gravity unloading method suitable for the ultra-large caliber light reflecting mirror according to claim 1, wherein a damping vibration reduction system is designed on the unloading mechanism, the system consists of a plurality of damping vibration reduction units (6), the damping vibration reduction units (6) comprise an electromagnetic coil a arranged on a light rib at the back of the reflecting mirror and an electromagnetic coil b arranged on a base (1), the electromagnetic coil a and the electromagnetic coil b are concentrically arranged, the electromagnetic coil a is not electrified and is connected with a charging module or a heat dissipation resistor through a wire, the electromagnetic coil b is electrified, a substantially uniform magnetic field can be generated in the middle of the electromagnetic coil b, the strength of the magnetic field is controlled by the current of the electromagnetic coil b, when the reflecting mirror vibrates, the electromagnetic coil a cuts the magnetic induction wire to generate current, the vibration energy is converted into electric energy to be charged into the charging module, or the heat energy is converted into heat energy through the heat dissipation resistor, and therefore the stable maintenance of the whole system is implemented.
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|---|---|---|---|---|
| US5267091A (en) * | 1991-07-18 | 1993-11-30 | Computer Sciences Corporation | Levitating support and positioning system |
| CN101314329A (en) * | 2008-07-15 | 2008-12-03 | 西南交通大学 | Method for improving stability of high temperature superconducting magnetic suspension system |
| CN102185540A (en) * | 2011-05-11 | 2011-09-14 | 长春理工大学 | Magnetic suspension supporting system for main reflecting mirror of large-caliber parallel light tubes |
| CN205356194U (en) * | 2016-02-02 | 2016-06-29 | 杨欢 | Magnetic suspension system |
| CN212276076U (en) * | 2019-12-06 | 2021-01-01 | 天津航天机电设备研究所 | Gravity unloading device for large optical reflector |
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2021
- 2021-12-22 CN CN202111581820.0A patent/CN114435957B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267091A (en) * | 1991-07-18 | 1993-11-30 | Computer Sciences Corporation | Levitating support and positioning system |
| CN101314329A (en) * | 2008-07-15 | 2008-12-03 | 西南交通大学 | Method for improving stability of high temperature superconducting magnetic suspension system |
| CN102185540A (en) * | 2011-05-11 | 2011-09-14 | 长春理工大学 | Magnetic suspension supporting system for main reflecting mirror of large-caliber parallel light tubes |
| CN205356194U (en) * | 2016-02-02 | 2016-06-29 | 杨欢 | Magnetic suspension system |
| CN212276076U (en) * | 2019-12-06 | 2021-01-01 | 天津航天机电设备研究所 | Gravity unloading device for large optical reflector |
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